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An robotic arm is responsible for very complicated processes which required a rigorous and complex programming;I'm an electronic engineering student and I have always caught my attention these projects so I decided " I want to build a robotic arm." In this blog I present the results , hoping to be useful to others who are also interested .

This robotic arm is a little demonstration on servomotors which are typically used in RC models , and is controlled from a PC , meaning through the LabView program and arduino toolkit ; well as control from a cell phone with android system.


A robotic arm is a type normally programmable mechanical arm, similar to the functions of a human arm ; this may be the sum total of the mechanism or may be part of a more complex robot. The parts of these manipulators or arms are interconnected through articulated joints that allow both a rotational movement ( such as an articulated robot ) , as a translational linear move .




Step 1: Materials

The robotic arm uses 6 servo motors:

1 servo HITEC HS-815BB   (24kg.cm    shoulder)
1 servo HITEC HS-755HB   (13kg.cm   elbow)
2 servos HITEC HS-311      (3kg.cm articulation up/down and turn 180º)
1 servo Tower pro 996R      (10kg.cm  base)
1 micro servo Towe pro       (3kg.cm pin)



Step 2: Diagram and Circuits

Step 3: MOVEMENTS

The arm has 6 degrees of freedom of movement:
a swivel base
a servo motor in the "shoulder"
a servo motor in the "elbow"
two servo motors in the "doll", one to move up and down and one for left and right rotation.
And a sixth servo motor at the handling clamp.
I have made different designs of the various parts, and I present these are the most "accomplished", the result of much "trial and trial." Now it looks like the actual structure of an industrial arm.
The length of the section that goes between the elbow and wrist is almost equal to the length of the "hand" which enables a good balance; and to help I put springs in the elbow to have a good balance of weights and so assist servo motors.
The servo shoulder has the "reinforcement" of a spring when the arm is tilted forward.

Step 4: SERVO MOTORS

The servo motor has some control circuits and a potentiometer (a variable resistor) that is connected to the central axis of the servo motor. In the figure it can be seen on the right side of the circuit. This potentiometer allows the control circuitry, monitor the current angle of the servo motor. If the shaft is at the correct angle, then the engine is off. If the circuit checks that the angle is not correct, the motor will turn in the right direction until the correct angle. The shaft of the servo is capable of reaching around 180 degrees. Normally, in some reaches 210 degrees, but it varies by manufacturer. A normal servo is used to control an angular motion of between 0 and 180.

Step 5: PHOTOS

Step 6: APLICATIONS

You can download the program here:

https://onedrive.live.com/redir?resid=7A41020FCBD2795B%21248



If you want the android apk and the source code you can find it here:

http://electrongeeks.blogspot.com/2014/03/aplicaciones-para-controlar-un-brazo.html

Step 7: VIDEOS

 

Step 8: NEW UPGRADES

<p>I make the project and i decide to upload the code.Have fun :)</p><p>#include &lt;Servo.h&gt;</p><p>Servo myservo1;</p><p>Servo myservo2;</p><p>Servo myservo3;</p><p>Servo myservo4;</p><p>Servo myservo5;</p><p>Servo myservo6;</p><p>int potpin1 = 0;</p><p>int potpin2 = 1;</p><p>int potpin3 = 2;</p><p>int potpin4 = 3;</p><p>int potpin5 = 4;</p><p>int potpin6 = 5;</p><p>int val1 = 0;</p><p>int val2 = 0;</p><p>int val3 = 0;</p><p>int val4 = 0;</p><p>int val5 = 0;</p><p>int val6 = 0;</p><p>void setup()</p><p>{</p><p> myservo1.attach(2);</p><p> myservo2.attach(3);</p><p> myservo3.attach(4);</p><p> myservo4.attach(5);</p><p> myservo5.attach(6);</p><p> myservo6.attach(7);</p><p>}</p><p>void loop()</p><p>{</p><p> val1 = analogRead(potpin1);</p><p> val1 = map(val1, 3, 1023, 0, 176);</p><p> myservo1.write(val1);</p><p> delay(25);</p><p> val2 = analogRead(potpin2);</p><p> val2 = map(val2, 3, 1023, 0, 176);</p><p> myservo2.write(val2);</p><p> delay(25);</p><p> val3 = analogRead(potpin3);</p><p> val3 = map(val3, 3, 1023, 0, 175);</p><p> myservo3.write(val3);</p><p> delay(25);</p><p> val4 = analogRead(potpin4);</p><p> val4 = map(val4, 3, 1023, 0, 175);</p><p> myservo4.write(val4);</p><p> delay(25);</p><p> val5 = analogRead(potpin5);</p><p> val5 = map(val5, 3, 1023, 0, 175);</p><p> myservo5.write(val5);</p><p> delay(25);</p><p> val6 = analogRead(potpin6);</p><p> val6 = map(val6, 3, 1023, 0, 175);</p><p> myservo6.write(val6);</p><p> delay(25);</p><p>}</p>
<p>mmmmmmmm CAD files?</p>
<p>please attach arduino code to program,..</p>
<p>arduino code</p>
<p>did u got the code?</p>
<p>Dear author. This is a nice instructable. It's well documented and lots of photos but part of the IBLE culture is to &quot;instruct&quot; and teach by responding to your readers. If you aren't going to bother responding, especially when users request code, why bother with the IBLE in the first place?</p>
<p>Nice robot arm! I just finished a inexpensive 6DOF Chinese metal robot arm and would also appreciate if you could share your Arduino code with me. I used all MG-996R's except for a Futaba S3151 and a plastic horn for the claw; the other horns where metal. I've already ordered 2 17kg servos, for the shoulder and wrist, but need some code to test how good it functions as is. I may try springs to counter the strain on the shoulder and wrist, as you mentioned in your instructable.</p>
<p>bhai help bhi kar dia kya Plsss</p>
<p>Hi! I've one question.. why did you draw the current directly from the Arduino? The pins from the arduino can draw max 200ma, while the MG996r servo draws an average of 1 ampere.</p>
<p>i dont think he supplied power from arduino. see is ckt diagrm. he used external source. probably smps</p>
I Built this same robot arm with the same Servos. But I can't find a good power source, how did you power yours?
<p>use a smps</p>
<p>Hi,</p><p>I have to make a robotic arm for a project where it has to pick up a drinks can, would the motors you used be strong/powerful enough to this? Also do you have any dimensions/drawings for the actual arm ?</p><p>Nice work,</p><p>Nat</p>
<p>hi</p><p>i also need some info about this so plz if you get it email me</p><p>Hey there everyone i need arduino coading for controlling 5servo motors <br>Please email me i need it for mu final year projec</p>
<p>yes totally it can pick up soda cans</p>
<p>and there are plenty of CAD files for exactly the same model on google u can just use it on laser or CNC machine</p>
<p>and there are plenty of CAD files for exactly the same model on google u can just use it on laser or CNC machine</p>
<p>and there are plenty of CAD files for exactly the same model on google u can just use it on laser or CNC machine</p>
<p>and there are plenty of CAD files for exactly the same model on google u can just use it on laser or CNC machine</p>
<p>and there are plenty of CAD files for exactly the same model on google u can just use it on laser or CNC machine</p>
<p>and there are plenty of CAD files for exactly the same model on google u can just use it on laser or CNC machine</p>
<p>its beautiful work go on .</p>
<p>Thanks</p>
Can i get arduino code
And android apk
<p>hey i am trying to make the same type of arm but i am keep getting stuck at the code for the arduino to control multiple servos with potentiometers. </p>
<p>Can I have The Details Of The Sizes in this arm???</p>
<p>I would love to know the arm dimensions too please!</p>
<p>hi</p>
hellow is someone there
<p>its awsome but is that arduino connected with the breadboard</p>
<p>its awsome but is that arduino connected with the breadboard</p>
<p>its awsome but is that arduino connected with the breadboard</p>
<p>dai</p>
Hey there everyone i need arduino coading for controlling 5servo motors <br>Please email me i need it for mu final year project
<p>Awesome project , but can you provide the full building guide ?</p>
<p>I will try</p>
<p>Did you ever upload the code for this? I'd love to take a look. Thanks!</p>
<p>I like this project.. may you share code 6 degree.. thanks very much. </p><p>:D</p>
<p>my email: lethanhhoanga2211@gmail.com </p>
can you please tell the code for arduino to run the robo arm!!! please
<p>Anybody know if you can still get the app, it won't take me to the app page, PLEASE HELP!!!!</p>
<p>Evil zoids may I know why servo keeps shaking when I controlled it with my potentiometer???</p>
<p>just use appropriate capacitor with servos and the shaking of servos will be gone</p>
<p>It could be many things but most likely it is because you have the power and grounds run from the Arduino board and not another power source.</p>
<p>Hello Evil Zoids, I am wondering what material this project is made out of. Possibly Lexan - Polycarbonate? Please let me know. I am looking at constructing a similar project! (y)<br><br>Thanks!!</p>
<p>I think it is Polymethylmethacrylat :). (Some people call it acrylic galss ;D)</p>
<p>Great project. I am a second year Electrical Engineering student at Nelson Mandela University and the post inspired me to build it for my design project. Unfortunaly we have to use the Discovery STM32 boards but I will definatly give it a try </p>
<p>The program link is broken, re-upload please. Thanks</p>
can i have the code in this project ?

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